公开(公告)号：KR100299622B1

公开(公告)日：2001-09-22

申请号：KR1019990001575

申请日：1999-01-20

Applicant: 한국과학기술원

Inventor： 김종한 ,  정명진

IPC: B25J13/04

Abstract: 2개의바퀴에의해 X축및 Y축으로임의제어되게한 하체부와, 이하체부의상부에바퀴의중심선상에서오프셋된위치에회전축으로연결한상부베이스로구성되어, 주몸체인상부베이스가독립적으로직선속도및 각속도제어를할 수있도록하기위하여; 방향전환바퀴를일측에설치한하부베이스의일측에배치되는제1바퀴와, 상기제1바퀴의중심축선과일치하게타측에배치되는제2바퀴와, 상기제1바퀴를독립적으로구동제어하게하부베이스일측에설치된제1모타와, 상기제2바퀴를독립적으로구동제어하게하부베이스의타측에설치된제2모타와, 상기하부베이스의제1,2바퀴를연결하는중심축선상의중심에서일정거리만큼이격된위치에고정되어일정높이로기립설치된회전축과, 상기회전축상단에개재된베어링에의해지지설치된상부베이스상에고정설치되면서회전축과일체로조립되는제3모터와, 상기제1,2,3모터를기입력된데이터에의해제어하는전자제어장치를포함한구성으로이루어지는전방향이동로봇을제공하는데있다.

公开(公告)号：KR1020000051245A

公开(公告)日：2000-08-16

申请号：KR1019990001575

申请日：1999-01-20

Applicant: 한국과학기술원

Inventor： 김종한 ,  정명진

IPC: B25J13/04

Abstract: PURPOSE: An omni-directional mobile robot having the lower part of two wheels mobile robot mechanism is provided which uses only three driving gear for moving a robot to omni-direction. CONSTITUTION: An omni-directional mobile robot having the lower part of two wheels mobile robot mechanism comprises : the upper part(70) to include a case of upper part(90) forming a central treatment device, a memorial device, a switch, and a motor for connector for driving of circular type surface(50) for driving a robot ; a connector of circular type surface(60) connected with the upper part(70) by a connecting terminal(100) and revolved on a rotary axis(15) by a motor(50) ; the lower part(80) to include a case of lower part(25) forming a right and a left wheels(10, 20) equipped on the both side of the base(5), and driving motors(30, 40) driving a right and a left wheels(10, 20).

Abstract translation: 目的：提供一种全方位移动机器人，其具有两轮可移动机器人机构的下部，其仅使用三个驱动齿轮将机器人移动到全向。 构成：具有两轮可移动机器人机构的下部的全向移动机器人包括：上部（70），其包括形成中央处理装置的上部（90）的壳体，纪念装置，开关和 用于驱动用于驱动机器人的圆形表面（50）的连接器用电动机; 通过连接端子（100）与所述上部（70）连接并通过马达（50）在旋转轴线（15）上旋转的圆形表面（60）的连接器; 下部（80）包括形成右侧的下部（25）和设置在基座（5）的两侧的左侧车轮（10,20）的壳体和驱动马达（30,40）的驱动马达 右和左轮（10,20）。